Mixed-initiative strategies for real-time scheduling of multiple unmanned vehicles

Abstract

Abstract-Advances in autonomy have made it possible to invert the typical operator-to-unmanned vehicle ratio so that a single operator can now control multiple heterogeneous Unmanned Vehicles (UVs). Real-time scheduling and task assignment for multiple UVs in uncertain environments will require the computational ability of optimization algorithms combined with the judgment and adaptability of human supervisors through mixed-initiative systems. The goal of this paper is to analyze the interactions between operators and scheduling algorithms in two human-in-the-loop multiple UV control experiments.The impact of real-time operator modifications to the objective function of an optimization algorithm for multi-UV scheduling is described. Results from outdoor multiple UV flight tests using a human-computer collaborative scheduling system are presented, which provide valuable insight into the impact of environmental uncertainty and vehicle failures on system effectiveness.

Mental Model Consensus and Shifts During Navigation System-Assisted Route Planning

“…This retasking is associated with degraded performance and increased workload (Cummings et al, 2010;Clare, Maere, & Cummings, 2012) as well as increased training requirements, degraded situation awareness, and potentially accidents (Miller & Parasuraman, 2007). In human-agent teaming, mental model incongruency can produce situations where agents' decisions do not match team members' expectations, leading to unpredictable behavior and degraded trust (Chen & Barnes, 2014;Clare, Macbeth, & Cummings, 2012;Hancock, Billings, & Schaefer, 2011;Ososky, Schuster, Phillips, & Jentsch, 2013;Parasuraman & Riley, 1997).…”

Mixed-Initiative Human-Robot Interaction: Definition, Taxonomy, and Survey

“…However, all of the initiative is on the side of the user since all planning operations are triggered by the user. Clare et al [44] presented a mixed-initiative scheduling system, where a human guides a planner in a collaborative process to solve the scheduling problem of assigning task to UVs. The system allows the operator to influence the planning process by changing objective functions for the automated planner to use in evaluating mission plans.…”

Mixed-Initiative Human-Robot Interaction: Definition, Taxonomy, and Survey

“…Wang et al [42] Finzi et al [41] Loizou&Kumar [46] Chipalkatty et al [47] Bresina and Morris [43] Clare et al [44] Pereira & Sousa [45] Horiguchi and Sawaragi [48] Nielsen et al [22] Few et al [23] Hardin et al [50] Ali and Arkin [49] Manikonda et al [51] Bruemmer et al [28] Adam et al [11]…”